bno055

Description

ROS node for publishing BNO055 IMU data. Uses the adafruit BNO055 python library.

Goal

Easy integration of BNO055 sensors into a ROS software environment.

Build Instructions

PLEASE run on fresh system and update install instructions (not sure what was installed by default on my rpi)

• No compilation needed however msg files must be loaded through a catkin_make and source of the devel/setup.bash

Nodes

imu

file: bno055_ros.py

Node name:

• bno055

Topics:

• jetson/imu: Publishes geometry_msgs/Imu Contains quaternion orientation, linear acceleration (m/s^2), and angular velocity (rads/s) .

• jetson/imu_info: Publishes bno055_info Contains the information on the IMUs calibration (accel, gyro, magno, sys) status and temperature (celcius).

Launch Information

Make sure that a BNO055 is plugged in to the raspberry pi's I2C interface and that the BNO055 has an address of 0x28 using sudo i2cdetect -y 1. Launch using <node type="bno055_ros.py" pkg="bno055" name="bno055_node"/> in a launch file or using rosrun bno055 bno055_ros.py.

Troubleshooting

If the custom bno55_info message info can not be read make sure to source devel/setup.bash If a an input/output error occurs make sure the I2C bus is operational and the sensor is properly connected:

• sudo rapi-config to turn the bus on
• sudo i2cdetect -y 1 to make sure that the bus is operational and that the BNO055 has an address of 0x28

Contributors

• Current maintainer: Michael Equi

• Contributors:

  • Michael Equi - initial work

Helpful Resources

• https://github.com/adafruit/Adafruit_Python_BNO055
• https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST_BNO055_DS000_14.pdf